F5 : Start the simulation.
F6 : Stop the simulation.
x : Holding "x" will constrain the movement to the x axis of the viewer plane.
y : Holding "y" will constrain the movement to the y axis of the viewer plane.
␣ : Pressing "␣" (Space Bar) centers the view
+ : Pressing "+" will close the gripper fingers.
- : Pressing "-" will open the gripper fingers.
[ : Pressing "[" will close the second gripper fingers (if available).
] : Pressing "]" will open the second gripper fingers (if available).
e : Pressing "e" switches active end effector of a given manipulator (only between Point, Frame, and other multiple degree of constraint end effectors.
m : Pressing "m" switches active manipulator (robot or primitive shape) to the next manipulator with a multiple degree of constraint end effector.
s : Pressing "s" switches active end effector set.
d : Pressing "d" switches active control descriptor (can be configured for collision detection /avoidance).
f : Pressing "f" switches active control method.
w : Pressing "w" adds a waypoint to the active waypoint sequence, a joint frame to the active joint frame sequence, or starts/stops recording a path to the active path action.
p : Pressing "p" adds a calibration point at the current simulated location in the multipoint calibration GUI.
Shift : Holding shift changes mouse behavior to move the view (instead of the dragger), when in guide mode.
Ctrl + V : Switch to view mode
Ctrl + G : Switch to guide mode
Ctrl + S : Save file
Ctrl + O : Open file
Click + hold left mouse button : Manually control the active end effector's position.
Click + hold right mouse button : Manually control the active end effector's orientation.